CAN ISO-TP progress (+unit-tests fix) (#3677)

Co-authored-by: Andrei <andreikagit@users.noreply.github.com>

firmware/console/binary/serial_can.cpp

@@ -180,6 +180,7 @@ int CanStreamerState::sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sy
 	int totalNumSent = numSent;
 
 	// get a flow control (FC) frame
+#if !EFI_UNIT_TEST // todo: add FC to unit-tests?
 	CANRxFrame rxmsg;
 	for (int numFcReceived = 0; ; numFcReceived++) {
 		if (streamer->receive(CAN_ANY_MAILBOX, &rxmsg, timeout) != CAN_MSG_OK) {
@@ -214,6 +215,7 @@ int CanStreamerState::sendDataTimeout(const uint8_t *txbuf, int numBytes, can_sy
 		}
 		break;
 	}
+#endif /* EFI_UNIT_TEST */
 
 	// send the rest of the data
 	int idx = 1;
@@ -250,16 +252,17 @@ int CanStreamerState::getDataFromFifo(uint8_t *rxbuf, size_t &numBytes) {
 can_msg_t CanStreamerState::streamAddToTxTimeout(size_t *np, const uint8_t *txbuf, can_sysinterval_t timeout) {
 	int numBytes = *np;
 	int offset = 0;
-	int minNumBytesRequiredToSend = 7 - txFifoBuf.getCount();
+
-	while (numBytes >= minNumBytesRequiredToSend) {
+	// we send here only if the TX FIFO buffer is getting overflowed
-		txFifoBuf.put(txbuf + offset, numBytes);
+	while (numBytes >= txFifoBuf.getSize() - txFifoBuf.getCount()) {
+		int numBytesToAdd = txFifoBuf.getSize() - txFifoBuf.getCount();
+		txFifoBuf.put(txbuf + offset, numBytesToAdd);
 		int numSent = sendDataTimeout((const uint8_t *)txFifoBuf.getElements(), txFifoBuf.getCount(), timeout);
 		if (numSent < 1)
 			break;
 		txFifoBuf.clear();
 		offset += numSent;
 		numBytes -= numSent;
-		minNumBytesRequiredToSend = 7;
 	}
 	
 	// now we put the rest on hold

firmware/hw_layer/drivers/can/can_msg_tx.cpp

@@ -11,17 +11,18 @@
 
 #include "can_msg_tx.h"
 
-#if EFI_CAN_SUPPORT
 #include "can.h"
 
 extern int canWriteOk;
 extern int canWriteNotOk;
 
+#if EFI_CAN_SUPPORT
 /*static*/ CANDriver* CanTxMessage::s_device = nullptr;
 
 /*static*/ void CanTxMessage::setDevice(CANDriver* device) {
 	s_device = device;
 }
+#endif // EFI_CAN_SUPPORT
 
 CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
 #ifndef STM32H7XX
@@ -46,6 +47,7 @@ CanTxMessage::CanTxMessage(uint32_t eid, uint8_t dlc, bool isExtended) {
 }
 
 CanTxMessage::~CanTxMessage() {
+#if EFI_CAN_SUPPORT
 	auto device = s_device;
 
 	if (!device) {
@@ -72,6 +74,7 @@ CanTxMessage::~CanTxMessage() {
 	} else {
 		canWriteNotOk++;
 	}
+#endif /* EFI_CAN_SUPPORT */
 }
 
 void CanTxMessage::setDlc(uint8_t dlc) {
@@ -87,20 +90,6 @@ void CanTxMessage::setBit(size_t byteIdx, size_t bitIdx) {
 	m_frame.data8[byteIdx] |= 1 << bitIdx;
 }
 
-#else
-
-CanTxMessage::CanTxMessage(uint32_t /*eid*/, uint8_t /*dlc*/, bool /*isExtended*/) {
-
-}
-
-CanTxMessage::~CanTxMessage() {
-
-}
-
-void CanTxMessage::setDlc(uint8_t) { }
-
-#endif // EFI_CAN_SUPPORT
-
 uint8_t& CanTxMessage::operator[](size_t index) {
 	return m_frame.data8[index];
 }

firmware/util/containers/fifo_buffer.h

@@ -49,6 +49,10 @@ public:
         return cyclic_buffer<T, maxSize>::getCount();
     }
 
+    int getSize() const {
+        return cyclic_buffer<T, maxSize>::getSize();
+    }
+
     const volatile T* getElements() const {
         return elements;
     }

unit_tests/tests/test_can_serial.cpp

@@ -28,6 +28,8 @@ public:
 	}
 
 	virtual can_msg_t receive(canmbx_t mailbox, CANRxFrame *crfp, can_sysinterval_t timeout) override {
+		if (crfList.empty())
+			return CAN_MSG_TIMEOUT;
 		*crfp = *crfList.begin();
 		crfList.pop_front();
 		return CAN_MSG_OK;
@@ -51,6 +53,8 @@ public:
 	TestCanStreamerState() : CanStreamerState(&streamer) {}
 
 	void test(const std::vector<std::string> & dataList, const std::vector<std::string> & frames, int fifoLeftoverSize, const std::vector<size_t> & receiveChunks) {
+		EngineTestHelper eth(TEST_ENGINE);
+
 		size_t totalSize = 0;
 		std::string totalData;
 		for (auto data : dataList) {
@@ -110,37 +114,37 @@ protected:
 	TestCanStreamer streamer;
 };
 
+
 TEST(testCanSerial, test1Frame) {
-	/*
+
 	{
 		TestCanStreamerState state;
 		state.test({ "1" }, { "\x01"s "1\0\0\0\0\0\0"s }, 1, { 1 }); // 1 byte -> 1 frame, 1 byte in FIFO
 	}
 	{
 		TestCanStreamerState state;
-		state.test({ "0123456" }, { "\x07"s "0123456"s }, 0, { 7 }); // 7 bytes -> 1 8-byte frame
+		state.test({ "0123456" }, { "\x07"s "0123456"s }, 7, { 7 }); // 7 bytes -> 1 8-byte frame
 	}
 	{
 		TestCanStreamerState state;
-		state.test({ "0123456" }, { "\x07"s "0123456"s }, 0, { 1, 1, 1, 1, 1, 1, 1 }); // 7 bytes -> 1 8-byte frame, split receive test
+		state.test({ "0123456" }, { "\x07"s "0123456"s }, 7, { 1, 1, 1, 1, 1, 1, 1 }); // 7 bytes -> 1 8-byte frame, split receive test
 	}
 	{
 		TestCanStreamerState state;
-		state.test({ "0123456" }, { "\x07"s "0123456"s }, 0, { 3, 4 }); // 7 bytes -> 1 8-byte frame, split receive test
+		state.test({ "0123456" }, { "\x07"s "0123456"s }, 7, { 3, 4 }); // 7 bytes -> 1 8-byte frame, split receive test
 	}
 	{
 		TestCanStreamerState state;
-		state.test({ "0", "1", "2", "3", "4", "5", "6" }, { "\x07"s "0123456"s }, 0, { 7 }); // 7 bytes separately -> 1 8-byte frame
+		state.test({ "0", "1", "2", "3", "4", "5", "6" }, { "\x07"s "0123456"s }, 7, { 7 }); // 7 bytes separately -> 1 8-byte frame
 	}
-*/
 }
 
-/*
 TEST(testCanSerial, test2Frames) {
 	{
 		TestCanStreamerState state;
-		state.test({ "01234567" }, { "\x07"s "0123456"s, "\x01"s "7\0\0\0\0\0\0"s }, 1, { 8 }); // 8 bytes -> 2 8-byte frames, 1 byte in FIFO
+		state.test({ "01234567" }, { "\x10"s "\x08"s "012345"s, "\x21"s "67\0\0\0\0\0"s }, 8, { 8 }); // 8 bytes -> 2 8-byte frames, 8 bytes in FIFO
 	}
+	/*
 	{
 		TestCanStreamerState state;
 		state.test({ "0123456ABCDEFG" }, { "\x07"s "0123456"s, "\x07"s "ABCDEFG"s }, 0, { 14 }); // 14 bytes -> 2 8-byte frames, empty FIFO
@@ -149,8 +153,10 @@ TEST(testCanSerial, test2Frames) {
 		TestCanStreamerState state;
 		state.test({ "0123456ABCDEFG" }, { "\x07"s "0123456"s, "\x07"s "ABCDEFG"s }, 0, { 6, 1, 1, 6 }); // 14 bytes -> 2 8-byte frames, empty FIFO, split receive test
 	}
+	*/
 }
 
+/*
 TEST(testCanSerial, testIrregularSplits) {
 	{
 		TestCanStreamerState state;